#ifndef __KALMANFILTER_H
#define __KALMANFILTER_H

#include "sys.h"
#include "lcd.h"
#include "adc.h"
#include "math.h"
#include "stdio.h"
//#include "usart.h"

#define Xest_int 3830
#define Pest_int 40000

uint16_t Noiseless_ODKaleman(uint16_t measurement);
void Standard_Deviation(void);
float Kalman_Gain(float p, float r);
float State_Update(float estState, float Gian, float measurement);
float Covariance_Update(float Gian, float varianceExtr);

#endif


